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[wpilib] Split DriverStation into smaller classes (#8628)

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This commit is contained in:
Thad House
2026-04-18 19:56:45 -07:00
committed by GitHub
parent 58ad633ae2
commit ab2aef2c29
108 changed files with 4406 additions and 3211 deletions
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6
commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -12,7 +12,7 @@
#include "wpi/commands2/CommandPtr.hpp"
#include "wpi/commands2/Subsystem.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
#include "wpi/framework/RobotBase.hpp"
#include "wpi/framework/TimedRobot.hpp"
#include "wpi/hal/UsageReporting.hpp"
@@ -99,7 +99,7 @@ void CommandScheduler::Schedule(Command* command) {
RequireUngrouped(command);
if (m_impl->disabled || m_impl->scheduledCommands.contains(command) ||
(wpi::DriverStation::IsDisabled() && !command->RunsWhenDisabled())) {
(wpi::RobotState::IsDisabled() && !command->RunsWhenDisabled())) {
return;
}
@@ -181,7 +181,7 @@ void CommandScheduler::Run() {
loopCache->Poll();
m_watchdog.AddEpoch("buttons.Run()");
bool isDisabled = wpi::DriverStation::IsDisabled();
bool isDisabled = wpi::RobotState::IsDisabled();
// create a new set to avoid iterator invalidation.
for (Command* command : wpi::util::SmallSet(m_impl->scheduledCommands)) {
if (!IsScheduled(command)) {

22
commandsv2/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
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@@ -16,51 +16,51 @@ Trigger CommandGenericHID::Button(int button, wpi::EventLoop* loop) const {
return Trigger(loop, [this, button] { return m_hid.GetRawButton(button); });
}
Trigger CommandGenericHID::POV(wpi::DriverStation::POVDirection angle,
Trigger CommandGenericHID::POV(wpi::POVDirection angle,
wpi::EventLoop* loop) const {
return POV(0, angle, loop);
}
Trigger CommandGenericHID::POV(int pov, wpi::DriverStation::POVDirection angle,
Trigger CommandGenericHID::POV(int pov, wpi::POVDirection angle,
wpi::EventLoop* loop) const {
return Trigger(loop,
[this, pov, angle] { return m_hid.GetPOV(pov) == angle; });
}
Trigger CommandGenericHID::POVUp(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::UP, loop);
return POV(wpi::POVDirection::UP, loop);
}
Trigger CommandGenericHID::POVUpRight(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::UP_RIGHT, loop);
return POV(wpi::POVDirection::UP_RIGHT, loop);
}
Trigger CommandGenericHID::POVRight(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::RIGHT, loop);
return POV(wpi::POVDirection::RIGHT, loop);
}
Trigger CommandGenericHID::POVDownRight(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::DOWN_RIGHT, loop);
return POV(wpi::POVDirection::DOWN_RIGHT, loop);
}
Trigger CommandGenericHID::POVDown(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::DOWN, loop);
return POV(wpi::POVDirection::DOWN, loop);
}
Trigger CommandGenericHID::POVDownLeft(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::DOWN_LEFT, loop);
return POV(wpi::POVDirection::DOWN_LEFT, loop);
}
Trigger CommandGenericHID::POVLeft(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::LEFT, loop);
return POV(wpi::POVDirection::LEFT, loop);
}
Trigger CommandGenericHID::POVUpLeft(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::UP_LEFT, loop);
return POV(wpi::POVDirection::UP_LEFT, loop);
}
Trigger CommandGenericHID::POVCenter(wpi::EventLoop* loop) const {
return POV(wpi::DriverStation::POVDirection::CENTER, loop);
return POV(wpi::POVDirection::CENTER, loop);
}
Trigger CommandGenericHID::AxisLessThan(int axis, double threshold,

10
commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
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@@ -4,22 +4,22 @@
#include "wpi/commands2/button/RobotModeTriggers.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/RobotState.hpp"
using namespace wpi::cmd;
Trigger RobotModeTriggers::Autonomous() {
return Trigger{&wpi::DriverStation::IsAutonomousEnabled};
return Trigger{&wpi::RobotState::IsAutonomousEnabled};
}
Trigger RobotModeTriggers::Teleop() {
return Trigger{&wpi::DriverStation::IsTeleopEnabled};
return Trigger{&wpi::RobotState::IsTeleopEnabled};
}
Trigger RobotModeTriggers::Disabled() {
return Trigger{&wpi::DriverStation::IsDisabled};
return Trigger{&wpi::RobotState::IsDisabled};
}
Trigger RobotModeTriggers::Test() {
return Trigger{&wpi::DriverStation::IsTestEnabled};
return Trigger{&wpi::RobotState::IsTestEnabled};
}

7
commandsv2/src/main/native/include/wpi/commands2/button/CommandGenericHID.hpp
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@@ -6,8 +6,9 @@
#include "wpi/commands2/CommandScheduler.hpp"
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/POVDirection.hpp"
#include "wpi/driverstation/internal/DriverStationBackend.hpp"
namespace wpi::cmd {
@@ -56,7 +57,7 @@ class CommandGenericHID {
* @param angle POV angle.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
Trigger POV(wpi::DriverStation::POVDirection angle,
Trigger POV(wpi::POVDirection angle,
wpi::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
@@ -70,7 +71,7 @@ class CommandGenericHID {
* @param angle POV angle.
* @return a Trigger instance based around this angle of a POV on the HID.
*/
Trigger POV(int pov, wpi::DriverStation::POVDirection angle,
Trigger POV(int pov, wpi::POVDirection angle,
wpi::EventLoop* loop =
CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;

4
commandsv2/src/main/native/include/wpi/commands2/button/POVButton.hpp
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@@ -5,8 +5,8 @@
#pragma once
#include "wpi/commands2/button/Trigger.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/GenericHID.hpp"
#include "wpi/driverstation/POVDirection.hpp"
namespace wpi::cmd {
/**
@@ -26,7 +26,7 @@ class POVButton : public Trigger {
* @param angle The angle of the POV corresponding to a button press.
* @param povNumber The number of the POV on the joystick.
*/
POVButton(wpi::GenericHID* joystick, wpi::DriverStation::POVDirection angle,
POVButton(wpi::GenericHID* joystick, wpi::POVDirection angle,
int povNumber = 0)
: Trigger([joystick, angle, povNumber] {
return joystick->GetPOV(povNumber) == angle;